ML Anthology

And/Or Graph Representation of Assembly Plans

Luiz Homem de Mello, Arthur C. Sanderson
AAAI 1986 pp. 1113-1121
/aaai/1986/demello1986aaai-graph/

Abstract

A compact representation of all possible assembly plans of a given product using AND/OR graphs is presented. Such a representation forms the basis for efficient planning algorithms that make possible an increase in assembly system flexibility by allowing an intelligent robot to pick a course of action according to instantaneous conditions. The AND/OR graph is equivalent to a state transition graph but requires fewer nodes and simplifies the search for feasible plans. Three applications are discussed: the preselection of the best assembly plan, the recovery from execution errors, and the opportunistic scheduling of tasks. A hypothetical error situation in the assembly of the four-part assembly is discussed to show how a bottom-up search of the AND/OR graph leads to an efficient recovery. The scheduling efficiency using this representation is compared with fixed sequence and precedence graph representations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

PDF AAAI Semantic Scholar

Cite

Text

de Mello and Sanderson. "And/Or Graph Representation of Assembly Plans." AAAI Conference on Artificial Intelligence, 1986.

Markdown

[de Mello and Sanderson. "And/Or Graph Representation of Assembly Plans." AAAI Conference on Artificial Intelligence, 1986.](https://mlanthology.org/aaai/1986/demello1986aaai-graph/)

BibTeX

@inproceedings{demello1986aaai-graph,
  title     = {{And/Or Graph Representation of Assembly Plans}},
  author    = {de Mello, Luiz Homem and Sanderson, Arthur C.},
  booktitle = {AAAI Conference on Artificial Intelligence},
  year      = {1986},
  pages     = {1113-1121},
  url       = {https://mlanthology.org/aaai/1986/demello1986aaai-graph/}
}